OpenRaiser/Intern-Atlas huggingface dataset:
LOG-LIO2: A LiDAR-Inertial Odometry with Efficient Uncertainty Analysis
Venue: arXiv cs.RO 2024
Year: 2024

Uncertainty in LiDAR measurements, stemming from factors such as range sensing, is crucial for LIO (LiDAR-Inertial Odometry) systems as it affects the accurate weighting in the loss function. While recent LIO systems address uncertainty related to range sensing, the impact of incident angle on uncertainty is often overlooked by the community. Moreover, the existing uncertainty propagation methods suffer from computational inefficiency. This paper proposes a comprehensive point uncertainty model that accounts for both the uncertainties from LiDAR measurements and surface characteristics, along with an efficient local uncertainty analytical method for LiDAR-based state estimation problem. We employ a projection operator that separates the uncertainty into the ray direction and its orthogonal plane. Then, we derive incremental Jacobian matrices of eigenvalues and eigenvectors w.r.t. points, which enables a fast approximation of uncertainty propagation. This approach eliminates the requirement for redundant traversal of points, significantly reducing the time complexity of uncertainty propagation from $\mathcal{O} (n)$ to $\mathcal{O} (1)$ when a new point is added. Simulations and experiments on public datasets are conducted to validate the accuracy and efficiency of our formulations. The proposed methods have been integrated into a LIO system, which is available at https://github.com/tiev-tongji/LOG-LIO2.
Position: Towards Resilience Against Adversarial Examples
Venue: arXiv cs.LG 2024
Year: 2024

Current research on defending against adversarial examples focuses primarily on achieving robustness against a single attack type such as $\ell_2$ or $\ell_{\infty}$-bounded attacks. However, the space of possible perturbations is much larger than considered by many existing defenses and is difficult to mathematically model, so the attacker can easily bypass the defense by using a type of attack that is not covered by the defense. In this position paper, we argue that in addition to robustness, we should also aim to develop defense algorithms that are adversarially resilient -- defense algorithms should specify a means to quickly adapt the defended model to be robust against new attacks. We provide a definition of adversarial resilience and outline considerations of designing an adversarially resilient defense. We then introduce a subproblem of adversarial resilience which we call continual adaptive robustness, in which the defender gains knowledge of the formulation of possible perturbation spaces over time and can then update their model based on this information. Additionally, we demonstrate the connection between continual adaptive robustness and previously studied problems of multiattack robustness and unforeseen attack robustness and outline open directions within these fields which can contribute to improving continual adaptive robustness and adversarial resilience.
GAIA: A General AI Assistant for Intelligent Accelerator Operations
Venue: arXiv cs.CL 2024
Year: 2024

Large-scale machines like particle accelerators are usually run by a team of experienced operators. In case of a particle accelerator, these operators possess suitable background knowledge on both accelerator physics and the technology comprising the machine. Due to the complexity of the machine, particular subsystems of the machine are taken care of by experts, who the operators can turn to. In this work the reasoning and action (ReAct) prompting paradigm is used to couple an open-weights large language model (LLM) with a high-level machine control system framework and other tools, e.g. the electronic logbook or machine design documentation. By doing so, a multi-expert retrieval augmented generation (RAG) system is implemented, which assists operators in knowledge retrieval tasks, interacts with the machine directly if needed, or writes high level control system scripts. This consolidation of expert knowledge and machine interaction can simplify and speed up machine operation tasks for both new and experienced human operators.
Possible Value Analysis based on Symbolic Lattice
Venue: arXiv cs.SE 2024
Year: 2024

We propose a new static program analysis called program behavior analysis. The analysis aims to calculate possible symbolic expressions for every variable at each program point. We design a new lattice, transfer function, and widening operator to accommodate the analysis. Furthermore, we extend the analysis to interprocedural.
IDPFilter: Mitigating Interdependent Privacy Issues in Third-Party Apps
Venue: arXiv cs.CR 2024
Year: 2024

Third-party applications have become an essential part of today's online ecosystem, enhancing the functionality of popular platforms. However, the intensive data exchange underlying their proliferation has increased concerns about interdependent privacy (IDP). This paper provides a comprehensive investigation into the previously underinvestigated IDP issues of third-party apps. Specifically, first, we analyze the permission structure of multiple app platforms, identifying permissions that have the potential to cause interdependent privacy issues by enabling a user to share someone else's personal data with an app. Second, we collect datasets and characterize the extent to which existing apps request these permissions, revealing the relationship between characteristics such as the respective app platform, the app's type, and the number of interdependent privacy-related permissions it requests. Third, we analyze the various reasons IDP is neglected by both data protection regulations and app platforms and then devise principles that should be followed when designing a mitigation solution. Finally, based on these principles and satisfying clearly defined objectives, we propose IDPFilter, a platform-agnostic API that enables application providers to minimize collateral information collection by filtering out data collected from their users but implicating others as data subjects. We implement a proof-of-concept prototype, IDPTextFilter, that implements the filtering logic on textual data, and provide its initial performance evaluation with regard to privacy, accuracy, and efficiency.
Modeling Activity-Driven Music Listening with PACE
Venue: arXiv cs.IR 2024
Year: 2024

While the topic of listening context is widely studied in the literature of music recommender systems, the integration of regular user behavior is often omitted. In this paper, we propose PACE (PAttern-based user Consumption Embedding), a framework for building user embeddings that takes advantage of periodic listening behaviors. PACE leverages users' multichannel time-series consumption patterns to build understandable user vectors. We believe the embeddings learned with PACE unveil much about the repetitive nature of user listening dynamics. By applying this framework on long-term user histories, we evaluate the embeddings through a predictive task of activities performed while listening to music. The validation task's interest is two-fold, while it shows the relevance of our approach, it also offers an insightful way of understanding users' musical consumption habits.
GROMACS on AMD GPU-Based HPC Platforms: Using SYCL for Performance and Portability
Venue: arXiv cs.DC 2024
Year: 2024

GROMACS is a widely-used molecular dynamics software package with a focus on performance, portability, and maintainability across a broad range of platforms. Thanks to its early algorithmic redesign and flexible heterogeneous parallelization, GROMACS has successfully harnessed GPU accelerators for more than a decade. With the diversification of accelerator platforms in HPC and no obvious choice for a multi-vendor programming model, the GROMACS project found itself at a crossroads. The performance and portability requirements, and a strong preference for a standards-based solution, motivated our choice to use SYCL on both new HPC GPU platforms: AMD and Intel. Since the GROMACS 2022 release, the SYCL backend has been the primary means to target AMD GPUs in preparation for exascale HPC architectures like LUMI and Frontier. SYCL is a cross-platform, royalty-free, C++17-based standard for programming hardware accelerators. It allows using the same code to target GPUs from all three major vendors with minimal specialization. While SYCL implementations build on native toolchains, performance of such an approach is not immediately evident. Biomolecular simulations have challenging performance characteristics: latency sensitivity, the need for strong scaling, and typical iteration times as short as hundreds of microseconds. Hence, obtaining good performance across the range of problem sizes and scaling regimes is particularly challenging. Here, we share the results of our work on readying GROMACS for AMD GPU platforms using SYCL, and demonstrate performance on Cray EX235a machines with MI250X accelerators. Our findings illustrate that portability is possible without major performance compromises. We provide a detailed analysis of node-level kernel and runtime performance with the aim of sharing best practices with the HPC community on using SYCL as a performance-portable GPU framework.
Unconditionally Safe Light Client
Venue: arXiv cs.CR 2024
Year: 2024

Blockchain applications often rely on lightweight clients to access and verify on-chain data efficiently without the need to run a resource-intensive full node. These light clients must maintain robust security to protect the blockchain's integrity for users of applications built upon it, achieving this with minimal resources and without significant latency. Moreover, different applications have varying security needs. This work focuses on addressing these two key requirements in the context of Proof-of-Stake (PoS) blockchains and identifying the fundamental cost-latency trade-offs to achieve tailored, optimal security for each light client. The key security guarantee of PoS blockchains is economic (implied by the "stake"). In this paper we formalize this cryptoeconomic security to light clients, ensuring that the cost of corrupting the data provided to light clients must outweigh the potential profit, thereby economically deterring malicious actors. We further introduce "insured" cryptoeconomic security to light clients, providing unconditional protection via the attribution of adversarial actions and the consequent slashing of stakes. The divisible and fungible nature of stake facilitates programmable security, allowing for customization of the security level and insurance amount according to the specific needs of different applications. We implemented the protocols in less than 1000 lines of Solidity and TypeScript code and evaluated their gas cost, latency, and the computational overhead. For example, for a transaction with value of \$32k, the light client can choose between zero cost with a latency of 5 hours or instant confirmation with an insurance cost of \$7.45. Thus, the client can select the optimal point on the latency-cost trade-off spectrum that best aligns with its needs. Light clients require negligible storage and face minimal computational costs,...
Combining Combination Properties: Minimal Models
Venue: arXiv cs.LO 2024
Year: 2024

This is a part of an ongoing research project, with the aim of finding the connections between properties related to theory combination in Satisfiability Modulo Theories. In previous work, 7 properties were analyzed: convexity, stable infiniteness, smoothness, finite witnessability, strong finite witnessability, the finite model property, and stable finiteness. The first two properties are related to Nelson-Oppen combination, the third and fourth to polite combination, the fifth to strong politeness, and the last two to shininess. However, the remaining key property of shiny theories, namely, the ability to compute the cardinalities of minimal models, was not yet analyzed. In this paper we study this property and its connection to the others.
Designing Algorithmic Recommendations to Achieve Human-AI Complementarity
Venue: arXiv cs.HC 2024
Year: 2024

Algorithms frequently assist, rather than replace, human decision-makers. However, the design and analysis of algorithms often focus on predicting outcomes and do not explicitly model their effect on human decisions. This discrepancy between the design and role of algorithmic assistants becomes particularly concerning in light of empirical evidence that suggests that algorithmic assistants again and again fail to improve human decisions. In this article, we formalize the design of recommendation algorithms that assist human decision-makers without making restrictive ex-ante assumptions about how recommendations affect decisions. We formulate an algorithmic-design problem that leverages the potential-outcomes framework from causal inference to model the effect of recommendations on a human decision-maker's binary treatment choice. Within this model, we introduce a monotonicity assumption that leads to an intuitive classification of human responses to the algorithm. Under this assumption, we can express the human's response to algorithmic recommendations in terms of their compliance with the algorithm and the active decision they would take if the algorithm sends no recommendation. We showcase the utility of our framework using an online experiment that simulates a hiring task. We argue that our approach can make sense of the relative performance of different recommendation algorithms in the experiment and can help design solutions that realize human-AI complementarity. Finally, we leverage our approach to derive minimax optimal recommendation algorithms that can be implemented with machine learning using limited training data.
LocInv: Localization-aware Inversion for Text-Guided Image Editing
Venue: arXiv cs.CV 2024
Year: 2024

Large-scale Text-to-Image (T2I) diffusion models demonstrate significant generation capabilities based on textual prompts. Based on the T2I diffusion models, text-guided image editing research aims to empower users to manipulate generated images by altering the text prompts. However, existing image editing techniques are prone to editing over unintentional regions that are beyond the intended target area, primarily due to inaccuracies in cross-attention maps. To address this problem, we propose Localization-aware Inversion (LocInv), which exploits segmentation maps or bounding boxes as extra localization priors to refine the cross-attention maps in the denoising phases of the diffusion process. Through the dynamic updating of tokens corresponding to noun words in the textual input, we are compelling the cross-attention maps to closely align with the correct noun and adjective words in the text prompt. Based on this technique, we achieve fine-grained image editing over particular objects while preventing undesired changes to other regions. Our method LocInv, based on the publicly available Stable Diffusion, is extensively evaluated on a subset of the COCO dataset, and consistently obtains superior results both quantitatively and qualitatively.The code will be released at https://github.com/wangkai930418/DPL
Learnable Linguistic Watermarks for Tracing Model Extraction Attacks on Large Language Models
Venue: arXiv cs.CR 2024
Year: 2024

In the rapidly evolving domain of artificial intelligence, safeguarding the intellectual property of Large Language Models (LLMs) is increasingly crucial. Current watermarking techniques against model extraction attacks, which rely on signal insertion in model logits or post-processing of generated text, remain largely heuristic. We propose a novel method for embedding learnable linguistic watermarks in LLMs, aimed at tracing and preventing model extraction attacks. Our approach subtly modifies the LLM's output distribution by introducing controlled noise into token frequency distributions, embedding an statistically identifiable controllable watermark.We leverage statistical hypothesis testing and information theory, particularly focusing on Kullback-Leibler Divergence, to differentiate between original and modified distributions effectively. Our watermarking method strikes a delicate well balance between robustness and output quality, maintaining low false positive/negative rates and preserving the LLM's original performance.
Universal Imitation Games
Venue: arXiv cs.AI 2024
Year: 2024

Alan Turing proposed in 1950 a framework called an imitation game to decide if a machine could think. Using mathematics developed largely after Turing -- category theory -- we analyze a broader class of universal imitation games (UIGs), which includes static, dynamic, and evolutionary games. In static games, the participants are in a steady state. In dynamic UIGs, "learner" participants are trying to imitate "teacher" participants over the long run. In evolutionary UIGs, the participants are competing against each other in an evolutionary game, and participants can go extinct and be replaced by others with higher fitness. We use the framework of category theory -- in particular, two influential results by Yoneda -- to characterize each type of imitation game. Universal properties in categories are defined by initial and final objects. We characterize dynamic UIGs where participants are learning by inductive inference as initial algebras over well-founded sets, and contrast them with participants learning by conductive inference over the final coalgebra of non-well-founded sets. We briefly discuss the extension of our categorical framework for UIGs to imitation games on quantum computers.
Exploring Conceptual Modeling Metaphysics: Existence Containers, Leibniz's Monads and Avicenna's Essence
Venue: arXiv cs.SE 2024
Year: 2024

Requirement specifications in software engineering involve developing a conceptual model of a target domain. The model is based on ontological exploration of things in reality. Many things in such a process closely tie to problems in metaphysics, the field of inquiry of what reality fundamentally is. According to some researchers, metaphysicians are trying to develop an account of the world that properly conceptualizes the way it is, and software design is similar. Notions such as classes, object orientation, properties, instantiation, algorithms, etc. are metaphysical concepts developed many years ago. Exploring the metaphysics of such notions aims to establish quality assurance though some objective foundation not subject to misapprehensions and conventions. Much metaphysical work might best be understood as a model-building process. Here, a model is viewed as a hypothetical structure that we describe and investigate to understand more complex, real-world systems. The purpose of this paper is to enhance understanding of the metaphysical origins of conceptual modeling as exemplified by a specific proposed high-level model called thinging machines (TMs). The focus is on thimacs (things/machine) as a single category of TM modeling in the context of a two-phase world of staticity and dynamics. The general idea of this reality has been inspired by Deleuze s the virtual and related to the classical notions of Leibniz's monads and Avicenna's essence. The analysis of TMs leads to several interesting results about a thimac s nature at the static and existence levels.
Class-Level Code Generation from Natural Language Using Iterative, Tool-Enhanced Reasoning over Repository
Venue: arXiv cs.SE 2024
Year: 2024

LLMs have demonstrated significant potential in code generation tasks, achieving promising results at the function or statement level across various benchmarks. However, the complexities associated with creating code artifacts like classes, particularly within the context of real-world software repositories, remain underexplored. Prior research treats class-level generation as an isolated task, neglecting the intricate dependencies & interactions that characterize real-world software environments. To address this gap, we introduce RepoClassBench, a comprehensive benchmark designed to rigorously evaluate LLMs in generating complex, class-level code within real-world repositories. RepoClassBench includes "Natural Language to Class generation" tasks across Java, Python & C# from a selection of repositories. We ensure that each class in our dataset not only has cross-file dependencies within the repository but also includes corresponding test cases to verify its functionality. We find that current models struggle with the realistic challenges posed by our benchmark, primarily due to their limited exposure to relevant repository contexts. To address this shortcoming, we introduce Retrieve-Repotools-Reflect (RRR), a novel approach that equips LLMs with static analysis tools to iteratively navigate & reason about repository-level context in an agent-based framework. Our experiments demonstrate that RRR significantly outperforms existing baselines on RepoClassBench, showcasing its effectiveness across programming languages & under various settings. Our findings emphasize the critical need for code-generation benchmarks to incorporate repo-level dependencies to more accurately reflect the complexities of software development. Our work shows the benefits of leveraging specialized tools to enhance LLMs' understanding of repository context. We plan to make our dataset & evaluation harness public.
Empowering IoT Applications with Flexible, Energy-Efficient Remote Management of Low-Power Edge Devices
Venue: arXiv cs.SE 2024
Year: 2024

In the context of the Internet of Things (IoT), reliable and energy-efficient provision of IoT applications has become critical. Equipping IoT systems with tools that enable a flexible, well-performing, and automated way of monitoring and managing IoT edge devices is an essential prerequisite. In current IoT systems, low-power edge appliances have been utilized in a way that can not be controlled and re-configured in a timely manner. Hence, conducting a trade-off solution between manageability, performance and design requirements are demanded. This paper introduces a novel approach for fine-grained monitoring and managing individual micro-services within low-power edge devices, which improves system reliability and energy efficiency. The proposed method enables operational flexibility for IoT edge devices by leveraging a modularization technique. Following a review of existing solutions for remote-managed IoT services, a detailed description of the suggested approach is presented. Also, to explore the essential design principles that must be considered in this approach, the suggested architecture is elaborated in detail. Finally, the advantages of the proposed solution to deal with disruptions are demonstrated in the proof of concept-based experiments.
On the Limitations of Embedding Based Methods for Measuring Functional Correctness for Code Generation
Venue: arXiv cs.SE 2024
Year: 2024

The task of code generation from natural language (NL2Code) has become extremely popular, especially with the advent of Large Language Models (LLMs). However, efforts to quantify and track this progress have suffered due to a lack of reliable metrics for functional correctness. While popular benchmarks like HumanEval have test cases to enable reliable evaluation of correctness, it is time-consuming and requires human effort to collect test cases. As an alternative several reference-based evaluation metrics have been proposed, with embedding-based metrics like CodeBERTScore being touted as having a high correlation with human preferences and functional correctness. In our work, we analyze the ability of embedding-based metrics like CodeBERTScore to measure functional correctness and other helpful constructs like editing effort by analyzing outputs of ten models over two popular code generation benchmarks. Our results show that while they have a weak correlation with functional correctness (0.16), they are strongly correlated (0.72) with editing effort.